/*
 * collision_detector.h
 *
 *  Created on: Apr 7, 2010
 *      Author: Aron
 */

#ifndef COLLISION_DETECTOR_H_
#define COLLISION_DETECTOR_H_

#include "xtask.h"
#include "rrcon.h"
#include "log.h"
#include "sensor_read.h"



using namespace kthrobot;
using namespace std;

namespace Group5 {

    class Collision_Detector : public XTask {
    public:
        Collision_Detector(SensorsDataQueue *data_queue,int nr);
        virtual ~Collision_Detector();
        void TaskCode();
        int GetRange(int type);

    private:
        Collision_Detector() : XTask("") {} // Force to specify parameters
        SensorsDataQueue *data_queue_;
        int numberOfSensors_;
        int range_[6];
        static const int hz_ = 10;
    };
};

#endif /* COLLISION_DETECTOR_H_ */
